可自适应变形的机器人肠镜，提升内窥检查稳定性与推进力。
Adaptable, shape-conforming robotic endoscope
- 通过柔性波纹管实现尺寸自适应，随管道直径变化调整形状。
- 实测推进力达2.83牛，平均速度29.29米/秒，可在不同管径中有效前进。
- 适合微创手术导航、柔性机器人设计领域研究人员参考。
本文提出一种尺寸可调的机器人肠镜设计，旨在提升结肠镜检查的效率与舒适度。该装置结合膨胀机构与外部驱动系统，能根据管道直径自动调节形状，从而增强推进过程中的稳定性和推力。作为膨胀机构中的执行器，柔性波纹管在最大压力下可提供3.89牛的正压力，轴向变形约10毫米，可膨胀端最大扩张率达53%。原型机在运动性能测试中，通过改变管道摩擦系数和电机转速，验证了其推进能力。在人工肠道组织实验中，原型机可产生2.83牛的推进力，平均线速度达29.29米/秒，并能在不同管径间实现有效推进。结果表明，该原型具备形状自适应能力，可提升推进效能。推进力与牵引力关系、结构优化及微型化仍需进一步研究。
原文摘要 · Abstract (English)
This paper introduces a size-adaptable robotic endoscope design, which aims to improve the efficiency and comfort of colonoscopy. The robotic endoscope proposed in this paper combines the expansion mechanism and the external drive system, which can adjust the shape according to the different pipe diameters, thus improving the stability and propulsion force during propulsion. As an actuator in the expansion mechanism, flexible bellows can provide a normal force of 3.89 N and an axial deformation of nearly 10mm at the maximum pressure, with a 53% expansion rate in the size of expandable tip. In the test of the locomotion performance of the prototype, we obtained the relationship with the propelling of the prototype by changing the friction coefficient of the pipe and the motor angular velocity. In the experiment with artificial bowel tissues, the prototype can generate a propelling force of 2.83 N, and the maximum linear speed is 29.29 m/s in average, and could produce effective propulsion when it passes through different pipe sizes. The results show that the prototype can realize the ability of shape adaptation in order to obtain more propulsion. The relationship between propelling force and traction force, structural optimization and miniaturization still need further exploration.
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